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The vehicle positioning technology is playing an important role in Cooperative Vehicle Infrastructure System (CVIS). In those single positioning modes, the precision of wireless positioning is greatly affected by the environment. However, the accumulative errors of inertial navigation system (INS) and positioning can not be eliminated. In this paper, a hybrid fusion algorithm based on UWB (Ultra Wide Band) and INS is proposed and applied to the vehicle platoon formation control system. The hybrid fusion algorithm can overcome the shortcomings of non-line-of-sight (NLOS) problem in UWB positioning algorithm and accumulative errors of INS. This algorithm can also significantly enhance positioning accuracy in vehicle platoon formation control. The application scene consists of three types: road scene, junction scene and parking lot scene. The hybrid fusion algorithm can be used in combination with different scenarios to ensure the smooth operation of the vehicle platoon. Keywords—UWB (Ultra Wide Band); INS (inertial navigation system); hybrid fusion algorithm; vehicle platoon formation control

A Hybrid Fusion Algorithm for Integrated INS/UWB Navigation and Its Application in Vehicle Platoon Formation Control